//Yannick Verdie 2010

//--- Please read help() below: ---

#include <iostream>
#include <vector>
#include <opencv2/core/core_c.h>
#include <opencv2/calib3d/calib3d_c.h>
#include <opencv2/imgproc.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/legacy/compat.hpp>

#if defined WIN32 || defined _WIN32 || defined WINCE
    #include <windows.h>
    #undef small
    #undef min
    #undef max
    #undef abs
#endif

#ifdef __APPLE__
    #include <OpenGL/gl.h>
#else
    #include <GL/gl.h>
#endif

using namespace std;
using namespace cv;

static void help()
{
    cout << "\nThis demo demonstrates the use of the Qt enhanced version of the highgui GUI interface\n"
            "  and dang if it doesn't throw in the use of of the POSIT 3D tracking algorithm too\n"
            "It works off of the video: cube4.avi\n"
            "Using OpenCV version %s\n" << CV_VERSION << "\n\n"
" 1). This demo is mainly based on work from Javier Barandiaran Martirena\n"
"     See this page http://code.opencv.org/projects/opencv/wiki/Posit.\n"
" 2). This is a demo to illustrate how to use **OpenGL Callback**.\n"
" 3). You need Qt binding to compile this sample with OpenGL support enabled.\n"
" 4). The features' detection is very basic and could highly be improved \n"
"     (basic thresholding tuned for the specific video) but 2).\n"
" 5) THANKS TO Google Summer of Code 2010 for supporting this work!\n" << endl;
}

#define FOCAL_LENGTH 600
#define CUBE_SIZE 10

static void renderCube(float size)
{
    glBegin(GL_QUADS);
    // Front Face
    glNormal3f( 0.0f, 0.0f, 1.0f);
    glVertex3f( 0.0f,  0.0f,  0.0f);
    glVertex3f( size,  0.0f,  0.0f);
    glVertex3f( size,  size,  0.0f);
    glVertex3f( 0.0f,  size,  0.0f);
    // Back Face
    glNormal3f( 0.0f, 0.0f,-1.0f);
    glVertex3f( 0.0f,  0.0f, size);
    glVertex3f( 0.0f,  size, size);
    glVertex3f( size,  size, size);
    glVertex3f( size,  0.0f, size);
    // Top Face
    glNormal3f( 0.0f, 1.0f, 0.0f);
    glVertex3f( 0.0f,  size,  0.0f);
    glVertex3f( size,  size,  0.0f);
    glVertex3f( size,  size, size);
    glVertex3f( 0.0f,  size, size);
    // Bottom Face
    glNormal3f( 0.0f,-1.0f, 0.0f);
    glVertex3f( 0.0f,  0.0f,  0.0f);
    glVertex3f( 0.0f,  0.0f, size);
    glVertex3f( size,  0.0f, size);
    glVertex3f( size,  0.0f,  0.0f);
    // Right face
    glNormal3f( 1.0f, 0.0f, 0.0f);
    glVertex3f( size,  0.0f, 0.0f);
    glVertex3f( size,  0.0f, size);
    glVertex3f( size,  size, size);
    glVertex3f( size,  size, 0.0f);
    // Left Face
    glNormal3f(-1.0f, 0.0f, 0.0f);
    glVertex3f( 0.0f,  0.0f, 0.0f);
    glVertex3f( 0.0f,  size, 0.0f);
    glVertex3f( 0.0f,  size, size);
    glVertex3f( 0.0f,  0.0f, size);
    glEnd();
}


static void on_opengl(void* param)
{
    //Draw the object with the estimated pose
    glLoadIdentity();
    glScalef( 1.0f, 1.0f, -1.0f);
    glMultMatrixf( (float*)param );
    glEnable( GL_LIGHTING );
    glEnable( GL_LIGHT0 );
    glEnable( GL_BLEND );
    glBlendFunc(GL_SRC_ALPHA, GL_ONE);
    renderCube( CUBE_SIZE );
    glDisable(GL_BLEND);
    glDisable( GL_LIGHTING );
}

static void initPOSIT(std::vector<CvPoint3D32f> *modelPoints)
{
    //Create the model pointss
    modelPoints->push_back(cvPoint3D32f(0.0f, 0.0f, 0.0f)); //The first must be (0,0,0)
    modelPoints->push_back(cvPoint3D32f(0.0f, 0.0f, CUBE_SIZE));
    modelPoints->push_back(cvPoint3D32f(CUBE_SIZE, 0.0f, 0.0f));
    modelPoints->push_back(cvPoint3D32f(0.0f, CUBE_SIZE, 0.0f));
}

static void foundCorners(vector<CvPoint2D32f> *srcImagePoints, const Mat& source, Mat& grayImage)
{
    cvtColor(source, grayImage, COLOR_RGB2GRAY);
    GaussianBlur(grayImage, grayImage, Size(11,11), 0, 0);
    normalize(grayImage, grayImage, 0, 255, NORM_MINMAX);
    threshold(grayImage, grayImage, 26, 255, THRESH_BINARY_INV); //25

    vector<vector<Point> > contours;
    vector<Vec4i> hierarchy;
    findContours(grayImage, contours, hierarchy, RETR_EXTERNAL, CHAIN_APPROX_NONE);

    Point p;
    vector<CvPoint2D32f> srcImagePoints_temp(4,cvPoint2D32f(0,0));

    if (contours.size() == srcImagePoints_temp.size())
    {

        for(size_t i = 0 ; i<contours.size(); i++ )
        {

            p.x = p.y = 0;

            for(size_t j = 0 ; j<contours[i].size(); j++ )
                p+=contours[i][j];

            srcImagePoints_temp.at(i)=cvPoint2D32f(float(p.x)/contours[i].size(),float(p.y)/contours[i].size());
        }

        //Need to keep the same order
        //> y = 0
        //> x = 1
        //< x = 2
        //< y = 3

        //get point 0;
        size_t index = 0;
        for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
        {
            if (srcImagePoints_temp.at(i).y > srcImagePoints_temp.at(index).y)
                index = i;
        }
        srcImagePoints->at(0) = srcImagePoints_temp.at(index);

        //get point 1;
        index = 0;
        for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
        {
            if (srcImagePoints_temp.at(i).x > srcImagePoints_temp.at(index).x)
                index = i;
        }
        srcImagePoints->at(1) = srcImagePoints_temp.at(index);

        //get point 2;
        index = 0;
        for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
        {
            if (srcImagePoints_temp.at(i).x < srcImagePoints_temp.at(index).x)
                index = i;
        }
        srcImagePoints->at(2) = srcImagePoints_temp.at(index);

        //get point 3;
        index = 0;
        for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
        {
            if (srcImagePoints_temp.at(i).y < srcImagePoints_temp.at(index).y)
                index = i;
        }
        srcImagePoints->at(3) = srcImagePoints_temp.at(index);

        Mat Msource = source;
        stringstream ss;
        for(size_t i = 0 ; i<srcImagePoints_temp.size(); i++ )
        {
            ss<<i;
            circle(Msource,srcImagePoints->at(i),5,Scalar(0,0,255));
            putText(Msource,ss.str(),srcImagePoints->at(i),FONT_HERSHEY_SIMPLEX,1,Scalar(0,0,255));
            ss.str("");

            //new coordinate system in the middle of the frame and reversed (camera coordinate system)
            srcImagePoints->at(i) = cvPoint2D32f(srcImagePoints_temp.at(i).x-source.cols/2,source.rows/2-srcImagePoints_temp.at(i).y);
        }
    }

}

static void createOpenGLMatrixFrom(float *posePOSIT,const CvMatr32f &rotationMatrix, const CvVect32f &translationVector)
{


    //coordinate system returned is relative to the first 3D input point
    for (int f=0; f<3; f++)
    {
        for (int c=0; c<3; c++)
        {
            posePOSIT[c*4+f] = rotationMatrix[f*3+c];	//transposed
        }
    }
    posePOSIT[3] = 0.0;
    posePOSIT[7] = 0.0;
    posePOSIT[11] = 0.0;
    posePOSIT[12] = translationVector[0];
    posePOSIT[13] = translationVector[1];
    posePOSIT[14] = translationVector[2];
    posePOSIT[15] = 1.0;
}

int main(void)
{
    help();
    VideoCapture video("cube4.avi");
    CV_Assert(video.isOpened());

    Mat source, grayImage;

    video >> source;

    namedWindow("original", WINDOW_AUTOSIZE | WINDOW_FREERATIO);
    namedWindow("POSIT", WINDOW_AUTOSIZE | WINDOW_FREERATIO);
    displayOverlay("POSIT", "We lost the 4 corners' detection quite often (the red circles disappear). This demo is only to illustrate how to use OpenGL callback.\n -- Press ESC to exit.", 10000);

    float OpenGLMatrix[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
    setOpenGlDrawCallback("POSIT",on_opengl,OpenGLMatrix);

    vector<CvPoint3D32f> modelPoints;
    initPOSIT(&modelPoints);

    //Create the POSIT object with the model points
    CvPOSITObject* positObject = cvCreatePOSITObject( &modelPoints[0], (int)modelPoints.size() );

    CvMatr32f rotation_matrix = new float[9];
    CvVect32f translation_vector = new float[3];
    CvTermCriteria criteria = cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 100, 1.0e-4f);

    vector<CvPoint2D32f> srcImagePoints(4,cvPoint2D32f(0,0));


    while(waitKey(33) != 27)
    {
        video >> source;
        imshow("original",source);

        foundCorners(&srcImagePoints, source, grayImage);
        cvPOSIT( positObject, &srcImagePoints[0], FOCAL_LENGTH, criteria, rotation_matrix, translation_vector );
        createOpenGLMatrixFrom(OpenGLMatrix,rotation_matrix,translation_vector);

        imshow("POSIT",source);

        if (video.get(CAP_PROP_POS_AVI_RATIO) > 0.99)
            video.set(CAP_PROP_POS_AVI_RATIO, 0);
    }

    destroyAllWindows();
    cvReleasePOSITObject(&positObject);

    return 0;
}
